Medicine barrel position adjusting device and medicine adding system

Abstract

The invention discloses a medicine barrel position adjusting device and a medicine adding system. According to the device, a space conversion structure is adopted, a longitudinal space function (supporting and jacking) is decomposed into a transverse space (contracting and expanding), front-back clamping residual space is fully utilized to replace tight left-right clamping residual space, and the equipment size is reduced to meet the space requirement of an actual application scene. Through linkage of the barrel support and the holding and clamping plate, continuous changing holding and clamping of barrels of different sizes within the scene requirement range through one set of clamp are achieved, and the device can be compatible with medicine barrels of various specifications. By setting the consistency of torque curves of the motors on the two sides, normalization of control rules and control parameters for positioning barrels of different specifications is achieved, and a large amount of field debugging work can be avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of advanced manufacturing of petrochemical equipment, and in particular to a medicine barrel position adjustment device and a medicine adding system which can be used for position adjustment of medicine barrels of various specifications and occupies a small space. Background Art

[0002] A petrochemical dosing system is a complete set of equipment that integrates dosing, mixing, liquid transfer, and automatic control functions. It is primarily used in various dosing systems within the petrochemical industry to ensure the stability, efficiency, and safety of petrochemical production processes. Petrochemical dosing systems are widely used in various applications within the petrochemical industry, such as raw water treatment, boiler feed water treatment, and wastewater treatment. The various reagents required for petrochemical dosing systems are typically stored in barrels. When dosing is required, the traditional method involves manually placing the barrels containing the corresponding reagents inside the dosing equipment housing. The liquid transfer mechanism on the housing is then connected to the barrels to achieve dosing.

[0003] However, with the increasing prevalence of automated production, more automated equipment is being incorporated into petrochemical dosing systems. For example, auxiliary equipment such as manipulators are used to place medicine barrels within a tank, and then an automatic docking system is used to connect the liquid delivery mechanism's inlet pipe to the barrel. However, once the manipulator or other grasping mechanism has placed the medicine barrel within the tank, manual adjustment of the barrel's position is difficult. Consequently, the barrel often becomes misaligned with the liquid delivery mechanism's delivery pipe, making it difficult for the delivery pipe to automatically enter the barrel and achieve docking.

[0004] The existing methods for solving the above problems are to use pulley shafts, sliders, telescopic mandrels (pneumatic, electric, etc.), slots, vacuum adsorption, etc. to dynamically and statically limit the medicine barrel. However, these methods have many problems:

[0005] For example, the above-mentioned operation methods all require a large space. However, in the dosing system, there is a requirement for compressed size of the external structure of the overall device of the dosing equipment box. The external size of the overall equipment should be as small as possible, so that there is little space left for the size compatibility mechanism inside the equipment. When the barrel is in the largest state, there is obviously a problem of insufficient space left for the position adjustment mechanism.

[0006] At the same time, since the sizes of medicine barrels storing different medicines are different, the methods in the existing technology are difficult to be compatible with the position adjustment requirements of medicine barrels of different sizes.

[0007] In addition, since most medicine barrels are made of elastomeric materials, there are certain requirements for the clamping force of the medicine barrels. The traditional method uses a clamping force sensor to obtain the clamping force. However, the use of a clamping force sensor may make the hardware and connections on the moving parts more complicated, and the control cost is also higher. Summary of the Invention

[0008] The present invention provides a medicine barrel position adjustment device and a medicine dosing system, which solves the problems of linear (rod, slider, etc.) or rotary motion mechanisms occupying large space, having limited flexible control capabilities and high costs, and failing to meet the requirements of existing environments.

[0009] The present invention provides the following solutions:

[0010] A medicine barrel position adjustment device, comprising:

[0011] At least one set of adjustment units, each set of adjustment units comprising two sets of foldable push-blocking assemblies located on the box base and arranged opposite to each other;

[0012] The foldable push-block assembly includes a rack, two rotary drivers, a pair of multi-link assemblies, and a carrier plate; the rack is fixedly connected to the box base, and the multi-link assembly includes a first gear, a second gear, a third gear, a fourth gear, a transition link, and a clamping plate;

[0013] The output shafts of the two rotary drivers are connected one-to-one with the first gears respectively included in a pair of the multi-link assemblies; the first gear and the second gear are arranged on both sides of the rack relative to each other, and are connected by a first connecting rod and are both meshed with the rack; the two ends of the transition link are respectively hinged to the respective axles of the second gear and the third gear, and the third gear is meshed with the fourth gear through a second connecting rod, and one end of the clamping plate is connected and hinged to the axle of the fourth gear; the two ends of the carrier plate are respectively hinged to the axles of the third gears respectively included in the two sets of the folding push-block assemblies;

[0014] The rotary driver is used to drive the first gear connected to it to rotate in the target direction, so that the pair of multi-link assemblies can switch between the open state and the retracted state, so that in the process of switching from the open state to the retracted state, the second gears respectively contained in the pair of multi-link assemblies approach each other, driving the distal ends of the clamping plates respectively contained in the pair of multi-link assemblies to approach each other and move toward the medicine barrel on the box base, and after the clamping plates form a clamp on the medicine barrel, the medicine barrel is pushed to move until it reaches the target position in the center.

[0015] Preferably, a control unit is further included, and all the rotation drivers included in the two sets of the foldable push block assemblies are connected to the control unit, and the rotation drivers include rotation motors;

[0016] The control unit is configured to perform the following operations:

[0017] acquire all the current curves of the rotary motors during the switching from the unfolded state to the folded state;

[0018] continuously compare the current values corresponding to the current time of each current curve with each other;

[0019] control the multi-link assembly corresponding to the rotary motor with the largest current value to move towards the medicine barrel;

[0020] after determining that the current values corresponding to the current time of all the current curves are consistent with each other, determine that the medicine barrel is located at the central position in the opposite direction of the two sets of folding push-pull assemblies.

[0021] Preferably, the rotary motor comprises a power-off self-locking assembly.

[0022] Preferably, the control unit is further configured to, after receiving the medicine barrel placement completion information, determine that there is a new medicine barrel on the box base, and control each rotary motor to start to switch a pair of multi-link assemblies from the unfolded state to the folded state.

[0023] Preferably, the medicine barrel placement completion information comprises placement completion information transmitted by a mechanical hand or information that a pressure sensor on the box base is triggered.

[0024] Preferably, the control unit is further configured to, after receiving the folding instruction, control each rotary motor to start to switch a pair of multi-link assemblies from the folded state to the unfolded state.

[0025] Preferably, the clamping plate is parallel to the rack in the folded state.

[0026] Preferably, the contact part of the clamping plate and the medicine barrel comprises a barrel support at the bottom of the medicine barrel.

[0027] Preferably, the material of the clamping plate comprises an elastic material.

[0028] A medicine adding system comprises a box, a visual positioning mechanism and a medicine delivery mechanism, and a medicine barrel position adjusting device is arranged on the base in the interior of the box;

[0029] The visual positioning mechanism is configured to acquire the position information of the medicine barrel after the position adjustment of the medicine barrel by the medicine barrel position adjusting device is completed, and control the medicine delivery mechanism to dock with the medicine barrel after determining that the medicine barrel is located at a target position.

[0030] According to the specific embodiments of the present application, the following technical effects are provided:

[0031] Through the present invention, a medicine barrel position adjustment device and a medicine adding system can be realized. In one implementation method, the device adopts a space conversion structure to decompose the longitudinal space function (supporting the top) into the lateral space (retraction and expansion), making full use of the remaining space for front and rear clamping to replace the tight remaining space for left and right clamping, reducing the size of the equipment to meet the space requirements of actual application scenarios. Through the barrel support-clamping plate linkage, it is possible to use a set of clamps to continuously change the clamping of barrels of different sizes within the scope of the scene requirements, and it is compatible with a variety of specifications of medicine barrels. By using the consistency adjustment of the torque curve of the double-sided motor, the control law and control parameters for the positioning of barrels of different specifications are normalized, which can avoid a lot of on-site debugging work.

[0032] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 This is a structural schematic diagram of a medicine barrel position adjustment device provided by an embodiment of the present invention in a folded state;

[0035] Figure 2 This is a structural schematic diagram of a medicine barrel position adjustment device in an open state provided by an embodiment of the present invention;

[0036] Figure 3 Schematic diagram of a barrel clamping action according to an embodiment of the present invention;

[0037] Figure 4 Schematic diagram of performing a bucket clamping action according to an embodiment of the present invention;

[0038] Figure 5 This is a schematic diagram of a box provided by an embodiment of the present invention after medicine barrels of different sizes are placed.

[0039] In the figure: rack 1, multi-link assembly 2, first gear 21, second gear 22, third gear 23, fourth gear 24, transition link 25, clamping plate 26, first connecting rod 27, second connecting rod 28, carrier plate 3, medicine barrel 4, box 5, box base 51. DETAILED DESCRIPTION

[0040] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention are within the scope of protection of the present invention.

[0041] Example

[0042] See also Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 , is a medicine barrel position adjustment device provided by an embodiment of the present invention, such as Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 As shown, the device may include:

[0043] At least one set of adjustment units, each set of adjustment units including two sets of foldable push-stop assemblies located on the box base 51 and arranged opposite to each other;

[0044] The foldable push-block assembly includes a rack 1, two rotary drivers (not shown), a pair of multi-link assemblies 2, and a carrier plate 3; the rack 1 is fixedly connected to the box base 51, and the multi-link assembly 2 includes a first gear 21, a second gear 22, a third gear 23, a fourth gear 24, a transition link 25, and a clamping plate 26;

[0045] The output shafts of the two rotary drivers are connected one-to-one with the first gear 21 respectively included in a pair of multi-link assemblies 2; the first gear 21 and the second gear 22 are arranged on both sides of the rack 1, and are connected by a first connecting rod 27 and are both meshed with the rack 1; the two ends of the transition link 25 are respectively hinged to the respective axles of the second gear 22 and the third gear 23, and the third gear 23 is meshed with the fourth gear 24 through a second connecting rod 28. One end of the clamping plate 26 is connected and hinged to the axle of the fourth gear 24; the two ends of the carrier plate 3 are respectively hinged to the axles of the third gear 23 respectively included in the two sets of the folding push-block assemblies;

[0046] The rotary drive is used to drive the first gear 21 connected to it to rotate in the target direction, so that the pair of multi-link assemblies 2 can switch between the open state and the retracted state, so that in the process of switching from the open state to the retracted state, the second gears 22 respectively contained in the pair of multi-link assemblies 2 approach each other, driving the distal ends of the clamping plates 26 respectively contained in the pair of multi-link assemblies 2 to approach each other and move toward the medicine barrel 4 on the box base 51, and after the clamping plates 26 form a clamp with the medicine barrel 4, the medicine barrel 4 is pushed to move until it reaches the target position in the center.

[0047] The medicine barrel position adjustment device provided in the embodiment of the present application can make the foldable push-block assembly smaller in space, better adaptable to the barrel space, and have low hardware cost. It can be applied to the chemical and petroleum industries, such as drug addition, drug extraction, and other work scenarios that require the treatment of liquid media. It is mainly when a large number of such devices need to be deployed in a cluster manner to achieve a flexible work line. Due to site limitations, many actual work scenarios use traditional structure devices that cannot be placed or are difficult to change after placement. Parameters need to be pre-set or re-adjusted on site for barrels of different specifications. The use of this device not only saves space, but also saves time in adjusting the positioning parameters of barrels of different specifications.

[0048] The medicine barrel position adjustment device provided in the present application utilizes a foldable push-and-block structure based on a single truss. This overcomes design constraints such as push rod size limitations and high linear motor costs in terms of movement distance and occupied space. This device converts longitudinal space occupation into lateral space occupation, fully utilizing the remaining space in the clamping mechanism. While the remaining clamping space is significantly limited left and right, the remaining space in the front-to-back length can and should be fully utilized, thus saving space from the perspective of the clamping structure.

[0049] The barrel is clamped from both sides by the barrel holder, and the spring clamp 26 is linked to it, which is responsible for achieving the top view angle. Figure 1 The upper and lower direction limits, the barrel support - clamping plate 26 linkage rule is that the closer the barrel supports on both sides are ( Figure 1 The left side structure is shown in the figure, and the right side structure is the same as the left side. The angle between the clamping plates 26 changes from 180 degrees to 90 degrees. When the adjustment unit is in the open state, the foldable push-block assembly with a connecting rod structure can be in a folded state, taking up less space.

[0050] When the position of the medicine barrel 4 needs to be adjusted, Figure 2As shown, the rotary driver of the foldable push block assembly rotates, and the first gear 21 moves along the rack 1 in the direction of contraction and expansion (the two first gears 21 in the same adjustment unit approach each other). At this time, the first gear 21 will drive the second gear 22 to move in the same direction through the first connecting rod 27 during the movement. The second gear 22 will drive the transition connecting rod 25 connected to it to approach each other and move toward the medicine barrel 4 during the movement. The two transition connecting rods 25 will provide a thrust toward the medicine barrel 4 to the carrier plate 3 during the movement, which will cause the carrier plate 3 where the elastic clamping plate 26 is located to push toward the barrel, causing the barrel support to produce relative movement in the supporting direction. At the same time, the supporting direction causes the elastic clamping plate 26 to move relative to the gear. The angle of the clamping plate 26 on the barrel support changes from horizontal (180 degrees) to a small angle (90 degrees) as the barrel support rotates closer to the barrel, which will push the medicine barrel 4 toward the center position.

[0051] During the folding process, the clamping plate 26 and the medicine barrel 4 will stop contacting each other, so the smaller the size of the barrel, the tighter the elastic clamping plate 26 will hold (see Figure 1 The foldable push-stop assembly is folded (in the closed position). Conversely, the farther the barrel support is from the center, the larger the clamping angle (for clamping larger barrels). Simultaneously, the distance the carrier plate 3 moves toward the barrel increases as the diameter of the barrel 4 decreases, making the device suitable for adjusting the position of barrels 4 of various sizes.

[0052] It is understood that the adjustment units provided in the embodiment of the present application can be provided in one group or in multiple groups, and each group of adjustment units can adjust the position of the medicine barrel 4 in one direction. In order to achieve adjustment in multiple directions, in actual application, multiple groups of adjustment units can be provided as needed. For example, two groups of adjustment units can be provided in the box body 5 having a rectangular structure, one group of adjustment units for achieving position adjustment in the left-right direction, and the other group for achieving position adjustment in the up-down direction. Figure 1 、 Figure 2 Only the foldable push block assembly on the left side of a group of adjustment units arranged on the left and right is shown, wherein the foldable push block assembly on the right side has the same structure as the foldable push block assembly on the left side and is arranged symmetrically.

[0053] In practical applications, how to determine whether the medicine barrel 4 has been moved into position is to use a position sensor, but this method is costly and has a complex mechanical structure, which is not conducive to on-site deployment. To solve this problem, the embodiment of the present application can provide a control unit, and all the rotary drives included in each of the two sets of the foldable push-block assemblies are connected to the control unit, and the rotary drive includes a rotary motor;

[0054] The control unit is configured to perform the following operations:

[0055] acquiring all the current curves of the rotating motors during the switching from the unfolded state to the folded state;

[0056] continuously comparing the current values corresponding to the current time of each current curve with each other;

[0057] controlling the multi-link assembly 2 corresponding to the rotating motor with the largest current value to move towards the medicine barrel 4;

[0058] after determining that the current values corresponding to the current time of all the current curves are consistent with each other, determining that the medicine barrel 4 is located at the central position in the opposite direction of the two sets of folding push-pull assemblies.

[0059] The device provided by the embodiment of the application can realize self-adaptive holding of different sizes of medicine barrels 4 in the propping direction by controlling the torque of the electrically-driven self-expanding rotating motor. The holding torque of the barrels of different sizes is reflected on the current curve of the motor. If the current curves on both sides are approximately the same, the barrel is located at the center of the work station. If the current curves are inconsistent, the barrel is deviated to the side with the larger current. The consistency of the current curves on both sides can be adjusted by propping to control the left and right position of the barrel. The front and back positions of the barrel can be controlled by the holding clamping plate 26 and other positioning sensors or the consistency of the current curves.

[0060] The position control is realized by the self-adaptive control of the torque of the motor, which simulates the mechanical operation characteristics of humans when placing objects. The device is suitable for sensorless and multi-size position fuzzy control of the elastic medicine barrel 4. During setting, only the consistency curve of the current curves on both sides needs to be set, and the torque values of different sizes of barrels do not need to be adjusted, so that the position of the barrel can be set, which facilitates mass production and debugging.

[0061] In order to ensure that the folding push-pull assembly can stably hold the medicine barrel 4 after the medicine barrel 4 is moved to the position, the rotating motor provided by the embodiment of the application can further comprise a power-off self-locking assembly. After the position adjustment is completed, the motor is powered off to perform self-locking. Since the gears are meshed and connected between the links, the two holding clamping plates 26 on the same side will not change positions before the motor is self-locked and cannot be reversed, so that the holding position of the medicine barrel 4 is fixed.

[0062] It can be understood that the starting and stopping time of the rotating motor provided by the embodiment of the application can be manually controlled by workers. For example, after the mechanical hand places the medicine barrel 4 in the inside of the box 5, the user can manually start the rotating motor to realize the adjustment of the position of the medicine barrel 4. In order to further improve the automation degree of the device and meet the demand of fully automated production, the control unit can further be used to determine that there is a new medicine barrel 4 on the box base 51 after receiving the information that the placement of the medicine barrel 4 is completed, and control the starting of each rotating motor to switch a pair of the multi-link assemblies 2 from the unfolded state to the folded state.

[0063] Furthermore, the placement completion information of the medicine barrel 4 includes the placement completion information transmitted by the robot or the information that the pressure sensor on the box base 51 is triggered.

[0064] The control unit is further configured to control each of the rotary motors to start up so that a pair of the multi-link assemblies 2 are switched from a folded state to an extended state after receiving a folding instruction.

[0065] The control unit can automatically determine whether a medicine barrel 4 is placed in the box 5, and control the rotation motor to start after determining that a new medicine barrel 4 is placed in. The data required for the judgment can be relevant data from the handling robot end or data collected by the pressure sensor set on the base.

[0066] In order to further reduce the installation space requirement of the device, the embodiment of the present application may further provide that the clamping plate 26 is parallel to the rack 1 in the retracted state.

[0067] In order to further improve the stability of clamping, the embodiment of the present application may also provide that the contact portion between the clamping plate 26 and the medicine barrel 4 includes a barrel support at the bottom of the medicine barrel 4.

[0068] In order to prevent the medicine barrel 4 from being damaged during the movement process, the embodiment of the present application can also provide that the material of the clamping plate 26 includes an elastic material. The clamping plate 26 made of elastic material can meet the requirements of the driving force transmission while not causing damage to the medicine barrel 4.

[0069] In the existing petroleum equipment field workplace, the device provided by this application can be used to transform the existing equipment to improve the equipment space utilization rate. The implementation method can be as follows Figure 1 、 Figure 2 The electric control algorithm in the structure and description is implemented. The structural materials can be metal, non-metal, and other materials that are suitable for the protection level, temperature, and environmental level of the scene. The specific structural dimensions, support and opening dimensions of the on-site environment only need to meet the on-site dimension requirements. The upper and lower limits of the support force and clamping force only need to meet the scene requirements. See the implementation structure schematic diagram for details. Figure 1 、 Figure 2 The electronic control algorithm can control different torque normalization curves according to the needs of the scene and the different placement of the barrels in the workstation.

[0070] In summary, the medicine barrel position adjustment device provided by the present application adopts a space conversion structure to decompose the longitudinal space function (supporting the top) into the horizontal space (retraction and expansion), making full use of the remaining space for front and rear clamping to replace the tight remaining space for left and right clamping, reducing the size of the equipment to meet the space requirements of actual application scenarios. Through the barrel support-clamping plate linkage, it is possible to use a set of clamps to continuously change the clamping of barrels of different sizes within the scope of the scene requirements, and it is compatible with medicine barrels of various specifications. By using the consistency adjustment of the torque curve of the double-sided motor, the control law and control parameters for the positioning of barrels of different specifications are normalized, which can avoid a lot of on-site debugging work.

[0071] The embodiment of the present application may also provide a drug dosing system, which includes a box, a visual positioning mechanism, and a drug delivery mechanism, wherein the above-mentioned drug barrel position adjustment device is provided on the base inside the box;

[0072] The visual positioning mechanism is used to obtain the position information of the medicine barrel after the position of the medicine barrel is adjusted by the above-mentioned medicine barrel position adjustment device, and control the drug delivery mechanism to dock with the medicine barrel after determining that the medicine barrel is at the target position.

[0073] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0074] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are included in the scope of protection of the present invention.

Claims

1. A medicine barrel position adjustment device, characterized in that: It comprises at least one set of adjustment units, each set of the adjustment units comprising two sets of foldable push-blocking assemblies located on the box base and arranged oppositely; The foldable push-block assembly includes a rack, two rotary drivers, a pair of multi-link assemblies, and a carrier plate; the rack is fixedly connected to the box base, and the multi-link assembly includes a first gear, a second gear, a third gear, a fourth gear, a transition link, and a clamping plate; The output shafts of the two rotary drivers are connected one-to-one with the first gears respectively included in a pair of the multi-link assemblies; the first gear and the second gear are arranged on both sides of the rack relative to each other, and are connected by a first connecting rod and are both meshed with the rack; the two ends of the transition link are respectively hinged to the respective axles of the second gear and the third gear, and the third gear is meshed with the fourth gear through a second connecting rod, and one end of the clamping plate is connected and hinged to the axle of the fourth gear; the two ends of the carrier plate are respectively hinged to the axles of the third gears respectively included in the two sets of the folding push-block assemblies; The rotary driver is used to drive the first gear connected to it to rotate in the target direction, so that the pair of multi-link assemblies can switch between the open state and the retracted state, so that in the process of switching from the open state to the retracted state, the second gears respectively contained in the pair of multi-link assemblies approach each other, driving the distal ends of the clamping plates respectively contained in the pair of multi-link assemblies to approach each other and move toward the medicine barrel on the box base, and after the clamping plates form a clamp on the medicine barrel, the medicine barrel is pushed to move until it reaches the target position in the center.

2. The medicine barrel position adjustment device according to claim 1, characterized in that: It also includes a control unit, and all the rotation drivers included in the two sets of the foldable push block assemblies are connected to the control unit, and the rotation drivers include rotation motors; The control unit is configured to perform the following operations: acquiring respective current curves of all the rotating motors during the process of switching from the open state to the closed state; Continuously comparing the current values ​​corresponding to the current curves at the current moment with each other; Controlling the multi-link assembly corresponding to the rotating motor with the largest current value to move toward the medicine barrel; After determining that the current values ​​corresponding to all the current curves at the current moment are consistent with each other, it is determined that the medicine barrel is located in the center position in the relative direction of the two sets of the foldable push-block assemblies.

3. The medicine barrel position adjustment device according to claim 2, characterized in that: The rotary electric machine includes a power-off self-locking component.

4. The medicine barrel position adjustment device according to claim 2, characterized in that: The control unit is also used to determine that there is a new medicine barrel on the box base after receiving the information that the medicine barrel is placed, and control each of the rotating motors to start so that a pair of the multi-link assemblies are switched from an open state to a closed state.

5. The medicine barrel position adjustment device according to claim 4, characterized in that: The medicine barrel placement completion information includes placement completion information transmitted by the robot or information that the pressure sensor on the box base is triggered.

6. The medicine barrel position adjustment device according to claim 2, characterized in that: The control unit is further configured to control each of the rotary motors to start up and switch a pair of the multi-link assemblies from a folded state to an extended state after receiving a folding instruction.

7. The medicine barrel position adjustment device according to claim 1, characterized in that: In the folded state, the clamping plate is parallel to the rack.

8. The medicine barrel position adjustment device according to claim 1, characterized in that: The contact portion between the clamping plate and the medicine barrel includes the barrel support at the bottom of the medicine barrel.

9. The medicine barrel position adjustment device according to claim 1, characterized in that: The material of the clamping plate includes elastic material.

10. A dosing system, characterized in that: It comprises a box, a visual positioning mechanism and a medicine delivery mechanism, wherein the medicine barrel position adjustment device according to any one of claims 1 to 9 is provided on the base inside the box; The visual positioning mechanism is used to obtain the position information of the medicine barrel after the position of the medicine barrel is adjusted by the medicine barrel position adjustment device described in any one of claims 1 to 9, and control the drug delivery mechanism to dock with the medicine barrel after determining that the medicine barrel is at the target position.

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